Optimal path planning of UAVs using direct collocation with nonlinear programming

Brian R. Geiger, Joseph Francis Horn, Anthony M. Delullo, Lyle Norman Long, Albert F. Niessner

Research output: Chapter in Book/Report/Conference proceedingConference contribution

50 Citations (Scopus)

Abstract

A trajectory generation algorithm using direct collocation with nonlinear programming is successfully demonstrated in simulation. Direct collocation, which approximates the states and controls with piecewise polynomials, has been widely used in space and manned aircraft applications, but has only seen limited use in UAV applications. The algorithm is successfully applied to the generation of a UAV trajectory that provides maximum viewing time for a camera mounted on the UAV. The target can be stationary or moving. Multiple UAVs are considered. In this case, the objective is to provide maximum sensor coverage time using a combination of the UAVs. No specific initial guesses are required to ensure the algorithm is successful.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
Pages1257-1269
Number of pages13
Volume2
StatePublished - Dec 1 2006
EventAIAA Guidance, Navigation, and Control Conference 2006 - Keystone, CO, United States
Duration: Aug 21 2006Aug 24 2006

Other

OtherAIAA Guidance, Navigation, and Control Conference 2006
CountryUnited States
CityKeystone, CO
Period8/21/068/24/06

Fingerprint

Nonlinear programming
Unmanned aerial vehicles (UAV)
Motion planning
Trajectories
Cameras
Aircraft
Polynomials
Sensors

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Geiger, B. R., Horn, J. F., Delullo, A. M., Long, L. N., & Niessner, A. F. (2006). Optimal path planning of UAVs using direct collocation with nonlinear programming. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006 (Vol. 2, pp. 1257-1269)
Geiger, Brian R. ; Horn, Joseph Francis ; Delullo, Anthony M. ; Long, Lyle Norman ; Niessner, Albert F. / Optimal path planning of UAVs using direct collocation with nonlinear programming. Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006. Vol. 2 2006. pp. 1257-1269
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Geiger, BR, Horn, JF, Delullo, AM, Long, LN & Niessner, AF 2006, Optimal path planning of UAVs using direct collocation with nonlinear programming. in Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006. vol. 2, pp. 1257-1269, AIAA Guidance, Navigation, and Control Conference 2006, Keystone, CO, United States, 8/21/06.

Optimal path planning of UAVs using direct collocation with nonlinear programming. / Geiger, Brian R.; Horn, Joseph Francis; Delullo, Anthony M.; Long, Lyle Norman; Niessner, Albert F.

Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006. Vol. 2 2006. p. 1257-1269.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Geiger BR, Horn JF, Delullo AM, Long LN, Niessner AF. Optimal path planning of UAVs using direct collocation with nonlinear programming. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006. Vol. 2. 2006. p. 1257-1269